CN100416476C - Hand held direction indicator and method for evaluating displacement quantity - Google Patents
Hand held direction indicator and method for evaluating displacement quantity Download PDFInfo
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- CN100416476C CN100416476C CNB2004100028959A CN200410002895A CN100416476C CN 100416476 C CN100416476 C CN 100416476C CN B2004100028959 A CNB2004100028959 A CN B2004100028959A CN 200410002895 A CN200410002895 A CN 200410002895A CN 100416476 C CN100416476 C CN 100416476C
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- 238000010168 coupling process Methods 0.000 claims description 52
- 238000005859 coupling reaction Methods 0.000 claims description 52
- 230000008878 coupling Effects 0.000 claims description 50
- 230000001133 acceleration Effects 0.000 claims description 8
- 206010070834 Sensitisation Diseases 0.000 claims description 5
- 230000008313 sensitization Effects 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 2
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Abstract
The present invention relates to a method for estimating image displacement by using block matching search in a matching mode and a hand-held pointing device for a computer system. The method and the device which are provided by the present invention use an image pick-up device to pick up digital images in a progressive mode, take out a sample frame and the present frame, estimate movement rate vectors and calculate the displacement of the images. Besides, a searching range is limited according to the displacement to improve the efficiency and the accuracy of the block matching search or define a template block which is not in the center according to the movement rate, and a distance vector between the template block and the center of the sample frame is approximately in equal proportion to the movement rate; thus, the effective service life of the sample frame is prolonged.
Description
Technical field
The present invention relates to a kind of method of estimating displacement, particularly a kind of utilization one predetermined speed is used for the displacement method of estimation of an optical mouse.
Background technology
Mouse has been that the standard in the computer system is equipped with one of them.And optical mouse because there is not the physical construction of similar idler wheel mouse, calculates the displacement of mouse fully with optics and electronics mode.Therefore, compared to physical construction, has higher fiduciary level.So optical mouse has become the main flow in the mouse at present.
Optical mouse all has a CMOS sensitization array (being a video capture device) usually, and a logical operation circuit.The acquisition in proper order of CMOS sensitization array is positioned at the picture on surface of optical mouse below, and produces digitized video.Along with moving of optical mouse, the pattern in the digitized video also changes., or say that often open after the digital image, logical operation circuit just can calculate the displacement of optical mouse, notifies computing machine then, uses the cursor on the control computer screen via the dynamic change of content in the digitized video.
It generally is the displacement of estimating optical mouse with area matching method.Be used for traditionally estimating that the area matching method of amount of movement is to two digital images, do full search (fully search) with the block of the good size of predefined.And having one to be sample frame (template frame) in these two digital images, another Zhang Ze is called as present frame (current frame).In the example as shown in Figure 1, sample frame 100 is the digitized video of 6*6 pixel (pixel) with present frame 104.If these two digital images are done the full search that block mates with the block of 2*2 pixel, need to calculate the correlation (correlation) of 25*25 (625 times) block altogether.If the digitized video with two 16*16 pixels is done full search with the block of 8*8 pixel, need to calculate the correlation of 81*81 (6561 times) block altogether.
If only, can reduce a lot of calculation times with the full search of the coupling of the example edition onblock executing block in the sample frame.As 100 central authorities of the sample frame among Fig. 1 the example edition block of a 2*2 pixel size is arranged, the digitized video of 6*6 pixel then only need calculate 5*5 time, and the correlation of 25 blocks just is just can be the complete search of unit one time with the 2*2 block with present frame 104.As shown in Figure 3, the full search of block need block comparison with each 2*2 of present frame 104 after, can judge that just which block is the most similar to sample block 102, wherein the order of Sou Xuning is not defined, for example can search successively, to the last a block 108 from block 106 beginnings.If to the digitized video of two 16*16 pixels, when doing with the block of 8*8 pixel that the block coupling is complete searches, such search needs to calculate 9*9 time altogether, just the correlation of 81 blocks.Do the number of times that full search has reduced many searches and calculating though utilize the example edition block, owing to still need whole digital image done the full search of block coupling, significantly image will spend the correlation that long time calculates each block and example edition block, in addition, also can need many internal memories and processor capacity.
Summary of the invention
In view of this, purpose of the present invention just is to provide a kind of hand-held indicator device of predicting the method for blurring amount and being used for computer system, utilize image capture unit with mode acquisition of digital video in proper order, take out sample frame and present frame, estimate moving speed vector, and calculate the displacement of image.
Another object of the present invention is to utilize the displacement of estimation, block matching and searching needed search area in present frame is dwindled, with the time of minimizing calculating blurring amount, velocity of displacement, sense of displacement, and therefore reduce the required internal memory and the capacity of processor.
Another object of the present invention is to utilize the displacement of estimation, the position of example edition block in the sample frame prolongs the effective storage life of same sample frame by this after the decision, and the frequency of changing sample frame is reduced.
For reaching above-mentioned purpose, the invention provides a kind of hand-held indicator device that is used for computer system, comprise image capture unit and displacement detecting circuit.Wherein, image capture unit pick-up image in proper order is to produce first frame and second frame, and displacement detecting circuit is estimated the translational speed of hand-held indicator device, and, compare first frame and second frame, in the hope of going out the displacement of hand-held indicator device according to this translational speed.Image capture unit of the present invention includes a sensitization array, have a plurality of photosensory assemblies, and the area size of photosensory assembly is between 40 microns of 20 microns to 40 microns * of 20 microns *.
The present invention more comprises the method for the displacement of a kind of estimation one hand-held indicator device, and this hand-held indicator device has an image capture unit, in order to pick-up image in proper order, and produces the frame of heterogeneous correspondence.At first, estimate the translational speed of hand-held indicator device, again according to this translational speed comparison by first frame and second frame that image capture unit produced, in the hope of going out the displacement of hand-held indicator device.Wherein estimate the method for translational speed, come out according to two previous moving speed estimation; And relatively the method for two frames is included in and defines an example edition block in first frame, and according to translational speed, in second frame definition than second frame a less search area, and in this search area, find out the coupling block the most similar, and output shift quantity according to this to the example edition block.Method of the present invention more comprises the acceleration of reckoning hand-held indicator device and according to this acceleration and at least one previous translational speed, estimates the translational speed of hand-held indicator device.The method of definition search area is according to translational speed, calculate position with an example edition block expectation block of a size, for this hand-held indicator device under the motion of this translational speed, the model block most probable one is located the zone in second frame, this expectation block of last further expansion becomes search area.The scope of expansion expectation block can be asymmetric.
Method of the present invention also can be according to translational speed, in first frame, define not a model block, and in second frame, find out the coupling block the most similar to this example edition block in central authorities, the distance vector between the central authorities of the example edition block and first frame wherein, approximately and this translational speed equal proportion.
The method for searching of coupling block, the normally correlation between calculating and the example edition block.And generally calculate the algorithm such as mean square deviation (the mean square error of correlation; Mse) or the absolute difference method of average (meanabsolute difference; Mad) can utilize formula to calculate two gaps (error/difference) between the block, therefore so-called coupling block can calculate minimum correlation with the example edition block.
For above and other objects of the present invention, feature and advantage can be become apparent, a preferred embodiment cited below particularly, and cooperate appended diagram, elaborate.
The accompanying drawing summary
Fig. 1 is the known synoptic diagram of finding out the coupling block with full search pattern;
Fig. 2 a shows that general optical mouse replaces roller mechanism with lens;
Fig. 2 b is the synoptic diagram of integrated circuit chip among Fig. 2 a;
Fig. 3 is for finding out the synoptic diagram of coupling block in specific search area in the embodiment of the invention;
Fig. 4 is the example of the method according to this invention change search area;
Fig. 5 shows the example that comprises many repeated characteristics in the image of present frame;
Fig. 6 is the example of the position of the method according to this invention displacement example edition block.
The reference numeral explanation
The 100-sample frame; 102-example edition block; The 104-present frame; 106,108-block;
The 20-optical mouse; The 21-lens; 22-integrated circuit chip; The 221-image capture unit;
The 222-displacement detecting circuit; 300,306-present frame; 302,308-coupling block;
304,310-search area; 400,406-present frame; 402,408-coupling block;
404,410-search area; The 500-present frame; 502-mates block; The 504-search area;
The 600-sample frame; The previous example edition block of 602-; The new example edition block of 604-;
606,608-angle.
Embodiment
Fig. 2 a is for utilizing an optical mouse of the invention process, and Fig. 2 b is the integrated circuit chip synoptic diagram among Fig. 2 a.Have lens 21 and an integrated circuit chip (IC chip) 22 in the optical mouse 20.Shown in Fig. 2 b, roughly can be divided into two zones in the integrated circuit chip 22.One as image capture unit 221, for example the array that is made of the CMOS photosensitive sensor.Lens 21 are exactly the pattern with optical mouse 20 belows, are imaged on the image capture unit 221.Image capture unit 221 is in proper order pick-up image just, and then produces corresponding figure, or " frame " (frame).Certainly, along with moving of optical mouse 20, the frame that is captured is different with regard to and then changing.Integrated circuit chip 22 another zones are as displacement detecting circuit 222, mainly are to handle and frame that computing captured.Utilize and compare after several frames, displacement detecting circuit can judge how many optical mouse 20 moved on earth, and produces signal according to this, informs continuous device, for example computing machine.
Of the present invention focusing in the process that compares frame, used the translational speed of an expection.By this, can reduce the search area of coupling on the one hand, just reduce the operand of displacement detecting circuit.On the other hand, the present invention can increase the resolution of the output signal of optical mouse simultaneously so that the renewal frequency of the same this frame reduces.
The displacement that predetermined speed Vp that is image capture unit are predicted in cycle length at next image capture is just estimated the position of coupling block with respect to the example edition block.
According to predetermined speed Vp, estimate coupling block position in next image frame.In the example, suppose that each image frame length and width respectively is 6 pixels (6*6) as shown in Figure 3, and to be to use length and width respectively be the search that the block of 2 pixels (2*2) is made the block coupling.Area matching method provided by the invention is not searched all possible block of present frame, but only searches a search area that is estimated by predetermined speed.Dwindling search area can save the time of search effectively, and reduces the number of times that processor need calculate correlation.Search area will be limited in the search area that is estimated by predetermined speed, needn't do the computing of correlation to whole the whole blocks of present frame, just can determine the position of coupling block in this present frame.
As shown in Figure 3, during original state because rate travel is zero, its side-play amount also is zero, at this moment, can expect that coupling block 302 (be exactly an expectation block) most probable is seated in the existing frame 300 position identical with model block 102, therefore the center of first sample estimates frame 100 be that corresponding its mates the model block 102 of block 302.And the search area of at this moment estimating 304 is to be the center with coupling block 302, expands outwardly the scope of a pixel.Displacement after after a while because image is turned right, displacement to the right also should be able to be followed in the position of the coupling block of expection, and just, this model block 102 should be able to be along with the displacement of turning right of image translational speed.At this moment in existing frame 306, the coupling block should be able to be in 308 position, and relative search area then is the position 310.
In the example of Fig. 3,, need to calculate 5*5, the just correlation of 25 blocks if be that the example edition block 102 of 2*2 is done full search with the size to whole present frame.Find out the minimum value in the correlation, corresponding block mates block exactly.And if use method of the present invention, only to searching in the search area 304, then only need to calculate 3*3, just the correlation of 9 blocks.Being applied in big opening on the image, is that the center expands outwardly a pixel if search area is a coupling block with expection, much no matter image frame or example edition block have, and all only needs to calculate the correlation of 9 blocks.If search area is that the coupling block with expection is that the center expands outwardly two pixels, and is much no matter image frame or example edition block have, all only need to calculate the correlation of 25 blocks.Compare with known full search area matching method, the number of times that calculates correlation can significantly be reduced.For instance, the digitized video of a 16*16 pixel is done search with the example edition block of 8*8 pixel, traditional full search needs 81*81 time (6561 times) to calculate, if only getting a sample frame does search then can be reduced to 9*9 time (81 times) and calculate, and the present invention is because only do search in the coupling block of expection expands outwardly the scope of two pixels again, and the calculating that only must carry out 5*5 (25 times) block correlation gets final product.
Search area can be the equidistant all around N of expanding outwardly the pixel of coupling block with expection, and also distance that can be different is to expansion all around.As shown in Figure 4, the search area 404 of present frame 400 is added and subtracted two pixel unit distances again with the position of the coupling block 402 of expection.When initial calculation, because translational speed is zero, the coupling block 402 of expection is in the centre of present frame 400.After image began to move, and can calculate a predetermined speed, predetermined speed can estimate the position of coupling block in next image frame by this.As shown in the figure, if the position of coupling block 408 in present frame 406 of expection is by the position of originally mating block 402 pixel of displacement to the right again.At this moment because the image probability that continues to move right is bigger, just be easier to search coupling block with example edition block correlation minimum than the left side on the right of the coupling block 408 of expection.Therefore as shown in the figure, the search area on coupling block 408 left sides of expection can be reduced to a pixel by two pixels, make search area 410 for asymmetric.To more dwindle search area like this, and more reduce the number of times of required calculating correlation.
The previous search area size of being narrated also can be decided by the peak acceleration that image moves.Suppose that the image capture unit per second can capture 1000 digital images, and search area is to add and subtract a pixel again with the position of coupling block of expection, the distance of one of them pixel is 30 microns (μ m), and then can calculate peak acceleration by formula (4) is 30ms
-2(i.e. 3.06 times acceleration of gravity G).In actual applications, if the peak acceleration that image moves can not surpass 30ms
-2, the search area that expands outwardly a pixel is just for enough.
The translational speed of such utilization prediction reduces the method for search area, except reducing operand, also has another benefit: more can not find wrong coupling block.
The area size of image capture unit 221 commonly used is 60 microns of 60 microns * at present, and the enlargement ratio of lens 21 is 1 times.For example the array size that is made of the CMOS photosensitive sensor in the image capture unit is 16*16, and the example edition block is 8*8, and then the visible range of image capture unit is 960 microns of 960 microns *, and the area size of example edition block is about 480 microns of 480 microns *.Examine present press closely, most printed resolution is 150-200 DPI (dot per inch).Below be example with 150 DPI.If, represent a feature (feature) with a dot, the feature that is incident upon on the image capture unit 221 just has (60 microns * 16 of 150/ o'clock *)
2=5.67
2Be about 32 features.And the characteristic number that is contained by the example edition block of 8*8 should be 8.
Known method is to search whole present frame with the example edition block merely, finds out the coupling block.But because the included image of present frame probably is the pattern of repetition, the characteristic number that is contained is usually up to several, and is very possible, just finds several coupling blocks in present frame, causes the difficulty of the displacement of decision optical mouse.As shown in Figure 5, the example edition block in the sample frame in present frame 500, just may find tens identical coupling blocks.So, the displacement of optical mouse is not to differentiate, otherwise can be a mistake.
But the present invention uses the translational speed of prediction to reduce search area, has just reduced the probability that identical coupling block finds.Equally explain with Fig. 5.If search area 502 is the block of previous coupling block 504 for a 10*10 at center, as shown in the figure, in this search area 502, just have only 4 features, and the coupling number of blocks that may find can reduce significantly more.So the purpose of dwindling search area that the present invention desired to reach more can improve the accuracy of coupling block.
Such benefit, along with the minimizing of the feature quantity on the image capture unit, and change is more obvious.The area size of supposing image capture unit is 30 microns of 30 microns *, and the enlargement ratio of lens still is 1 times, and printed resolution still is 150 DPI.So, can derive the feature that is incident upon on the image capture unit and just have (30 microns * 16 of 150/ Foot *)
2=8.035.And the characteristic number that is contained by the example edition block of 8*8 should be approximately 2.The characteristic number that search area contained just should be 3.Can find, because characteristic number has reduced, so find single definite coupling block easilier.
A kind of method that reduces characteristic number is the area that reduces the image capture unit pick-up image, and the present invention advises that its area can adopt between 40 microns of 20 microns-40 microns * of 20 microns *.Another kind method increases the enlargement factor of lens, and with the pattern under the optical mouse, amplification is transmitted on the image capture unit.
In addition, the present invention position that more can move the example edition block according to optical mouse or predetermined speed of image capture unit.As shown in Figure 6, be to the right the time when optical mouse detects direction that image moves, the example edition block of sample frame 600 can be moved to 604 position left by the position 602 of central authorities originally.Toward the opposite direction displacement that image moves, the time lengthening that can allow sample frame use is to reduce the number of times that sample frame is upgraded with the example edition block.This is that middle block 602 can not be included in the present frame than the block 604 on the left side is more Zao, so the probability that the block 604 on the left side searches in present frame can be than higher because along with image moves toward the right.And, at forecast sample frame and present frame mutual overlapping is arranged still, and can search under the prerequisite of coupling block, be used as the example edition block with block 604 and can make that can detected minimum move angle to be reduced into angle 608 (be tan
-1(1/4)=14 spend), (be tan but not originally be used as the detected minimum move angle 606 of example edition block with block 602
-1(1/2)=26.5 spends).Can dwindle by detected minimum move angle, can allow detection image motion track more accurate.Simultaneously, because sample frame still can be used, just reduce the frequency/number of times that upgrades sample frame.
In addition, the present invention can also come mobile model block according to predetermined speed, and sets search area simultaneously.Can be after predetermined speed reaches a condition mobile model block earlier, after predetermined speed reaches another condition, just set search area.Also can set search area earlier, just mobile then model block.These two kinds of actions are all formerly explained in detail in the invention description, are not going to repeat.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; anyly have the knack of this skill person; without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking accompanying the claim person of defining.
Claims (12)
1. hand-held indicator device that is used for a computer system includes:
One image capture unit is in order to pick-up image in proper order, to produce one first frame and one second frame; And
One displacement detecting circuit, in order to estimating a translational speed of this hand-held indicator device, and according to this translational speed, relatively this first frame and this second frame are to obtain a displacement of this hand-held indicator device.
2. hand-held indicator device as claimed in claim 1, wherein, this image capture unit includes a sensitization array, has a plurality of photosensory assemblies, and the area size of this photosensory assembly is between 40 microns of 20 microns to 40 microns * of 20 microns * in this sensitization array.
3. hand-held indicator device as claimed in claim 1, wherein, this displacement detecting circuit defines a model block in this first frame; In this second frame, according to this translational speed, define a search area, the size of this search area is less than this second frame; And in this search area, find out a coupling block, and export this displacement according to this, wherein, this coupling block is the most similar to this model block.
4. hand-held indicator device as claimed in claim 1, wherein, this displacement detecting circuit is in this first frame, defines a model block, and this model block is not in the central authorities of this first frame; And, in this second frame, find out a coupling block, this coupling block is the most similar to this model block.
5. method of estimating a displacement of a hand-held indicator device, this hand-held indicator device has an image capture unit, in order to pick-up image in proper order, and produces the frame of heterogeneous correspondence, and this method comprises the following steps:
Estimate a translational speed of this hand-held indicator device; And
According to this translational speed, relatively by one first frame and one second frame that this image capture unit produced, to obtain a displacement of this hand-held indicator device.
6. method as claimed in claim 5, wherein, the step that this estimates out this translational speed includes the following step:
According to two previous translational speeds, estimate this translational speed.
7. method as claimed in claim 5, wherein, the step that this estimates out this translational speed includes the following step:
Calculate an acceleration of this hand-held indicator device; And
According to this acceleration and at least one previous translational speed, estimate this translational speed.
8. method as claimed in claim 5, wherein, relatively the step of this first frame and this second frame comprises the following steps:
In this first frame, define a model block;
In this second frame, according to this translational speed, define a search area, the size of this search area is less than this second frame; And
In this search area, find out a coupling block, and export this displacement according to this, wherein, this coupling block is the most similar to this model block.
9. method as claimed in claim 8 wherein, defines the step of this search area, comprises following steps:
According to this translational speed, calculate an expectation block, this expectation block size the same with this model block, be for this hand-held indicator device under this translational speed is moved, this model block most probable one is located the zone in this second frame; And
Expand this expectation block, and become this search area.
10. method as claimed in claim 9, wherein, each frame is constituted with X pixel * Y pixel, and should expand the step of this expectation block, be that this expectation block is expanded at least one pixel outward, and this expansion step can be symmetry or asymmetric.
11. method as claimed in claim 5, wherein, relatively the step of this first frame and this second frame comprises the following steps:
According to this translational speed, in this first frame, define a model block, and this model block is not in the central authorities of this first frame; And
In this second frame, find out this coupling block, this coupling block is the most similar to this model block.
12. method as claimed in claim 11, wherein, the distance vector between the central authorities of this model block and this first frame is and this translational speed equal proportion.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104238555A (en) * | 2013-06-18 | 2014-12-24 | 原相科技股份有限公司 | Remote control system of directed robot |
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| CN101000528B (en) * | 2006-01-13 | 2010-05-12 | 原相科技股份有限公司 | Method for changing operation frequency of optical input device |
| CN101276248B (en) * | 2007-03-27 | 2010-08-04 | 义隆电子股份有限公司 | Multiple molded boards one-dimensional area matching method and apparatus |
| CN103914155A (en) * | 2013-01-09 | 2014-07-09 | 奇高电子股份有限公司 | Optical navigation method and related device |
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| EP0375116A2 (en) * | 1988-09-26 | 1990-06-27 | Sharp Kabushiki Kaisha | Input device and method for a document-preparing system |
| US5287120A (en) * | 1991-10-14 | 1994-02-15 | Nintendo Company Limited | Coordinate data generating apparatus |
| CN1430180A (en) * | 2001-12-29 | 2003-07-16 | 原相科技股份有限公司 | Moving distance detecting method of image sensor |
| CN1430181A (en) * | 2001-12-29 | 2003-07-16 | 原相科技股份有限公司 | Moving distance detecting method of image sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0375116A2 (en) * | 1988-09-26 | 1990-06-27 | Sharp Kabushiki Kaisha | Input device and method for a document-preparing system |
| US5287120A (en) * | 1991-10-14 | 1994-02-15 | Nintendo Company Limited | Coordinate data generating apparatus |
| CN1430180A (en) * | 2001-12-29 | 2003-07-16 | 原相科技股份有限公司 | Moving distance detecting method of image sensor |
| CN1430181A (en) * | 2001-12-29 | 2003-07-16 | 原相科技股份有限公司 | Moving distance detecting method of image sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104238555A (en) * | 2013-06-18 | 2014-12-24 | 原相科技股份有限公司 | Remote control system of directed robot |
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